allangagnon/aws-robomaker-hospital-world

This Gazebo world is well suited for organizations who are building and testing robot applications in hospitals.

AWS RoboMaker Hospital World ROS package

Visit the AWS RoboMaker website to learn more about building intelligent robotic applications with Amazon Web Services.

3D Models included in this Gazebo World

Model (/models)	Picture
aws_robomaker_hospital_elevator_01_car, aws_robomaker_hospital_elevator_01_door, aws_robomaker_hospital_elevator_01_portal
aws_robomaker_hospital_curtain_closed_01, aws_robomaker_hospital_curtain_half_open_01, aws_robomaker_hospital_curtain_open_01
aws_robomaker_hospital_nursesstation_01
aws_robomaker_hospital_hospitalsign_01
aws_robomaker_hospital_floor_01_floor
aws_robomaker_hospital_floor_01_walls
aws_robomaker_hospital_floor_01_ceiling

We also reference the following models from https://app.ignitionrobotics.org/fuel/models:

CGMClassic, StorageRack VisitorChair InstrumentCart1 OpScrubs PatientWheelChair WhiteChipChair TrolleyBed SurgicalTrolley PotatoChipChair VisitorKidSit FemaleVisitorSit AdjTable MopCart3, MaleVisitorSit, Drawer, OfficeChairBlack, ElderLadyPatient, ElderMalePatient, InstrumentCart2, MetalCabinet, BedTable, BedsideTable, AnesthesiaMachine, TrolleyBedPatient, Shower, SurgicalTrolleyMed, StorageRackCovered, KitchenSink, Toilet, VendingMachine, ParkingTrolleyMin, PatientFSit, MaleVisitorOnPhone, FemaleVisitor, MalePatientBed, StorageRackCoverOpen, ParkingTrolleyMax

Include the world from another package

• Update .rosinstall to clone this repository and run rosws update

- git: {local-name: src/aws-robomaker-hospital-world, uri: 'https://github.com/aws-robotics/aws-robomaker-hospital-world.git', version: master}

• Add the following to your launch file:

<launch>
  <!-- Launch World -->
  <include file="$(find aws_robomaker_hospital_world)/launch/hospital.launch"/>
  ...
</launch>

Load directly into Gazebo (without ROS)

chmod +x setup.sh
./setup.sh
export GAZEBO_MODEL_PATH=`pwd`/models:`pwd`/fuel_models
gazebo worlds/hospital.world

ROS Launch with Gazebo viewer (without a robot)

# build for ROS
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_hospital_world view_hospital.launch

Building

Include this as a .rosinstall dependency in your SampleApplication simulation workspace. colcon build will build this repository.

To build it outside an application, note there is no robot workspace. It is a simulation workspace only.

$ rosws update
$ rosdep install --from-paths . --ignore-src -r -y
$ chmod +x setup.sh
$ ./setup.sh
$ colcon build